CLogFileRecord.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/io/CMemoryStream.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/system/TParameters.h>
#include <vector>

#include <mrpt/kinematics/CVehicleVelCmd.h>
#include <mrpt/nav/holonomic/CHolonomicLogFileRecord.h>
#include <mrpt/nav/holonomic/ClearanceDiagram.h>
#include <mrpt/nav/tpspace/CParameterizedTrajectoryGenerator.h>

namespace mrpt::nav
{
/** A class for storing, saving and loading a reactive navigation
 *   log record for the CReactiveNavigationSystem class.
 * \sa CReactiveNavigationSystem, CHolonomicLogFileRecord
 *  \ingroup nav_reactive
 */
class CLogFileRecord : public mrpt::serialization::CSerializable
{
    DEFINE_SERIALIZABLE(CLogFileRecord)

   public:
    /** Constructor, builds an empty record. */
    CLogFileRecord();

    /** The structure used to store all relevant information about each
     *  transformation into TP-Space.
     *  \ingroup nav_reactive  */
    struct TInfoPerPTG
    {
        /** A short description for the applied PTG */
        std::string PTG_desc;
        /** Distances until obstacles, in "pseudometers", first index for -PI
         * direction, last one for PI direction. */
        mrpt::math::CVectorFloat TP_Obstacles;
        /** Target(s) location in TP-Space */
        std::vector<mrpt::math::TPoint2D> TP_Targets;
        /** Robot location in TP-Space: normally (0,0), except during "NOP cmd
         * vel" steps */
        mrpt::math::TPoint2D TP_Robot;
        /** Time, in seconds. */
        double timeForTPObsTransformation, timeForHolonomicMethod;
        /** The results from the holonomic method. */
        double desiredDirection, desiredSpeed;
        /** Final score of this candidate */
        double evaluation;
        /** Evaluation factors */
        mrpt::system::TParametersDouble evalFactors;
        /** Other useful info about holonomic method execution. */
        CHolonomicLogFileRecord::Ptr HLFR;
        /** Only for the FIRST entry in a log file, this will contain a copy of
         * the PTG with trajectories, suitable to render trajectories, etc. */
        mrpt::nav::CParameterizedTrajectoryGenerator::Ptr ptg;
        /** Clearance for each path */
        mrpt::nav::ClearanceDiagram clearance;
    };

    mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState navDynState;
    /** The number of PTGS: */
    uint32_t nPTGs{0};
    /** The info for each applied PTG: must contain "nPTGs * nSecDistances"
     * elements */
    std::vector<TInfoPerPTG> infoPerPTG;
    /** The selected PTG. */
    int32_t nSelectedPTG{-1};

    /** Known values:
     *  - "executionTime": The total computation time, excluding sensing.
     *  - "estimatedExecutionPeriod": The estimated execution period.
     */
    std::map<std::string, double> values;
    /** Known values:
     *  - "tim_start_iteration": Time of start of navigationStep()
     *implementation.
     *  - "tim_send_cmd_vel": Time of sending cmdvel to robot.
     *  - "curPoseAndVel":  Time of querying robot pose and velocities.
     */
    std::map<std::string, mrpt::system::TTimeStamp> timestamps;
    /** Additional debug traces */
    std::map<std::string, std::string> additional_debug_msgs;
    /** The WS-Obstacles */
    mrpt::maps::CSimplePointsMap WS_Obstacles, WS_Obstacles_original;
    /** The robot pose (from odometry and from the localization/SLAM system). */
    mrpt::math::TPose2D robotPoseLocalization, robotPoseOdometry;
    mrpt::math::TPose2D relPoseSense,
        relPoseVelCmd;  //! Relative poses (wrt to robotPoseLocalization) for
    //! extrapolated paths at two instants: time of obstacle
    //! sense, and future pose of motion comman
    /** The relative location of target(s) in Workspace. */
    std::vector<mrpt::math::TPose2D> WS_targets_relative;

    /** The final motion command sent to robot, in "m/sec" and "rad/sec". */
    mrpt::kinematics::CVehicleVelCmd::Ptr cmd_vel;
    /** Motion command as comes out from the PTG, before scaling speed limit
     * filtering. */
    mrpt::kinematics::CVehicleVelCmd::Ptr cmd_vel_original;
    /** The actual robot velocities in global (map) coordinates, as read from
     * sensors, in "m/sec" and "rad/sec". */
    mrpt::math::TTwist2D cur_vel;
    /** The actual robot velocities in local (robot) coordinates, as read from
     * sensors, in "m/sec" and "rad/sec". */
    mrpt::math::TTwist2D cur_vel_local;

    /** The robot shape in WS. Used by PTGs derived from
     * mrpt::nav::CPTG_RobotShape_Polygonal */
    mrpt::math::CVectorFloat robotShape_x, robotShape_y;
    /** The circular robot radius. Used by PTGs derived from
     * mrpt::nav::CPTG_RobotShape_Circular */
    double robotShape_radius{.0};

    // "NOP motion command" mode variables:
    /** Negative means no NOP mode evaluation, so the rest of "NOP variables"
     * should be ignored. */
    int16_t ptg_index_NOP{-1};
    uint16_t ptg_last_k_NOP{0};
    mrpt::math::TPose2D rel_cur_pose_wrt_last_vel_cmd_NOP,
        rel_pose_PTG_origin_wrt_sense_NOP;
    mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState
        ptg_last_navDynState;
};
}  // namespace mrpt::nav